Decentral Intelligent Servo DIS-2 310/2 FB

Transcription

1 Decentral Intelligent Servo DIS-2 310/2 FB Page 1 Mounting Instructions Version General 1.1 Documentation This installation information serves the purpose of a safe use of the DIS-2 310/2 FB series servo positioning controller. It contains safety notes, which must be complied with. Further information can be found in the following manuals of the DIS-2 product range: Product Manual DIS-2 310/2 FB : Description of the device functionality as well as notes of the operation of the servo positioning controller DIS-2 310/2 FB. CANopen Manual DIS-2 : Description of the implemented CANopen protocol as per DSP 402. Profibus Manual DIS-2 : Description of the implemented PROFIBUS-DP protocol. EtherCAT Manual DIS-2 : Description of the implemented EtherCAT protocol. Software Manual: Description of the device functionality and the software functions of the firmware including RS232 communication. Description of the parameterisation program DIS-2 ServoCommander TM with instructions of the commissioning of an DIS-2 series servo positioning controller These documents are available for download on our homepage ( 1.2 Order numbers DIS-2 310/2 FB DIS-2 310/2 FB CANopen: DIS-2 310/2 FB PROFIBUS: DIS-2 310/2 FB EtherCAT: Auxiliary equipment Brake resistor: Power connector set: Input line filter: Signal and motor connector set: Control panel: RS232-cable: Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0) Kocherstraße 3 Telefax: +49-(0) D Braunschweig vertrieb@metronix.de Germany

2 Safety notes for electrical drives and controllers Page 2 2 Safety notes for electrical drives and controllers 2.1 Used symbols Information Important information and notes. Caution! Non observance may result in severe property damages. DANGER! Non observance may result in property damages and in personal injuries. Caution! Dangerous voltages. The safety note indicates a possible perilous voltage. 2.2 General notes In case of damage resulting from non-compliance with the safety notes in this manual, Metronix Meßgeräte und Elektronik GmbH will not assume any liability. Sound and safe operation of the servo drive controller requires proper and professional transportation, storage, assembly and installation as well as proper operation and maintenance. Only trained and qualified personnel may handle electrical devices: TRAINED AND QUALIFIED PERSONNEL in the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the setup, assembly, commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise: Education and instruction or authorisation to switch devices/systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands. Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment. First aid training. The following notes must be read prior to the initial operation of the system to prevent personal injuries and/or property damages: These safety notes must be complied with at all times. Do not try to install or commission the servo drive controller before carefully reading all safety notes for electrical drives and controllers contained in this document. These safety

3 Safety notes for electrical drives and controllers Page 3 instructions and all other user notes must be read prior to any work with the servo drive controller. In case you do not have any user notes for the servo drive controller, please contact your sales representative. Immediately demand these documents to be sent to the person responsible for the safe operation of the servo drive controller. If you sell, rent and/or otherwise make this device available to others, these safety notes must also be included. The user must not open the servo drive controller for safety and warranty reasons. Professional control process design is a prerequisite for sound functioning of the servo drive controller! DANGER! Inappropriate handling of the servo drive controller and non-compliance of the warnings as well as inappropriate intervention in the safety features may result in property damage, personal injuries, electric shock or in extreme cases even death. 2.3 Danger resulting from misuse DANGER! High electrical voltages and high load currents! Danger to life or serious personal injury from electrical shock! DANGER! High electrical voltage caused by wrong connections! Danger to life or serious personal injury from electrical shock! DANGER! Surfaces of device housing may be hot! Risk of injury! Risk of burning! DANGER! Dangerous movements! Danger to life, serious personal injury or property damage due to unintentional movements of the motors!

4 Safety notes for electrical drives and controllers Page Safety notes General safety notes The servo drive controller corresponds to IP54 class of protection as well as pollution level 1. Make sure that the environment corresponds to this class of protection and pollution level. Only use replacements parts and accessories approved by the manufacturer. The devices must be connected to the supply as per EN regulations, so that they can be cut off the mains supply by means of corresponding separation devices (e.g. main switch, contactor, power switch). The servo drive controller may be protected using an AC/DC sensitive 300mA fault current protection switch (RCD = Residual Current protective Device). Gold contacts or contacts with a high contact pressure should be used to switch the control contacts. Preventive interference rejection measures should be taken for control panels, such as connecting contactors and relays using RC elements or diodes. The safety rules and regulations of the country in which the device will be operated must be complied with. The environment conditions defined in the product documentation must be kept. Safety-critical applications are not allowed, unless specifically approved by the manufacturer. The compliance with the limits required by national regulations is the responsibility of the manufacturer of the machine or system. The technical data and the connection and installation conditions for the servo drive controller are to be found in this product manual and must be met. DANGER! The general setup and safety regulations for work on power installations (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be complied with. Non-compliance may result in death, personal injury or serious property damages. Without claiming completeness, the following regulations and others apply: VDE 0100 EN EN EN ISO EN 1050 EN 1037 DIN EN ISO Regulations for the installation of high voltage (up to 1000 V) devices Electrical equipment of machines Adjustable speed electrical power drive systems Part 5-1: Safety requirements Electrical, thermal and energy Safety of machinery - General principles for design, risk assessment and risk reduction Safty of maschinery Principles for risk assessment Safty of maschinery Prevention of unexpected start-up Safety of machinery Safety-related parts of control systems Part 1

5 Safety notes for electrical drives and controllers Page Safety notes for assembly and maintenance The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system. The plant engineer or the operator is responsible for compliance with these regulations: The servo drive controller must only be operated, maintained and/or repaired by personnel trained and qualified for working on or with electrical devices. Prevention of accidents, injuries and/or damages: Additionally secure vertical axes against falling down or lowering after the motor has been switched off, e.g. by means of: Mechanical locking of the vertical axle, External braking, catching or clamping devices or Sufficient balancing of the axle. The motor holding brake supplied by default or an external motor holding brake driven by the drive controller alone is not suitable for personal protection! Render the electrical equipment voltage-free using the main switch and protect it from being switched on again until the DC bus circuit is discharged, in the case of: Maintenance and repair work Cleaning long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turned off, locked and the DC bus circuit is discharged. High DC-Bus voltage. Minimum discharge time after switching power off: 5 minutes. Caution: Do not touch electrical connectors / components for 5 mintutes after switching power off! The internal (or external) brake resistor carries dangerous DC bus voltages during operation of the servo positioning controller. Be careful during the assembly. During the assembly and also later during operation of the drive, make sure to prevent drill chips, metal dust or assembly parts (screws, nuts, cable sections) from falling into the device. Also make sure that the external power supply of the controller (24V) is switched off. The DC bus circuit or the mains supply must always be switched off prior to switching off the 24V controller supply. Carry out work in the machine area only, if AC and/or DC supplies are switched off. Switched off output stages or controller enablings are no suitable means of locking. In the case of a malfunction the drive may accidentally be put into action. Initial operation must be carried out with idle motors, to prevent mechanical damages e.g. due to the wrong direction of rotation. Electronic devices are never fail-safe. It is the user s responsibility, in the case an electrical device fails, to make sure the system is transferred into a secure state. The servo drive controller and in particular the brake resistor, externally or internally, can assume high temperatures, which may cause serious burns.

6 Safety notes for electrical drives and controllers Page Protection against contact with electrical parts This section only concerns devices and drive components carrying voltages exceeding 50 V. Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock. During operation of electrical devices some parts of these devices will inevitably carry dangerous voltages. DANGER! High electrical voltage! Danger to life, danger due to electrical shock or serious personal injury! The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system. The plant engineer or the operator is responsible for compliance with these regulations: Before switching on the device, install the appropriate covers and protections against accidental contact. Rack-mounted devices must be protected against accidental contact by means of a housing, e.g. a switch cabinet. The regulations VGB4 must be complied with! Always connect the ground conductor of the electrical equipment and devices securely to the mains supply. Due to the integrated line filter the leakage current exceeds 3.5 ma! Comply with the minimum copper cross-section for the ground conductor over its entire length as per EN 60617! Prior to the initial operation, even for short measuring or testing purposes, always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the ground wire. Otherwise the housing may carry high voltages which can cause electrical shock. Do not touch electrical connections of the components when switched on. Prior to accessing electrical parts carrying voltages exceeding 50 Volts, disconnect the device from the mains or power supply. Protect it from being switched on again. For the installation the amount of DC bus voltage must be considered, particularly regarding insulation and protective measures. Ensure proper grounding, wire dimensioning and corresponding short-circuit protection. The device comprises a rapid discharge circuit for the DC bus as per EN60204 section In certain device constellations, however, mostly in the case of parallel connection of several servo drive controllers in the DC bus or in the case of an unconnected brake resistor, this rapid discharge may be rendered ineffective. The servo drive controllers can carry voltage until up to 5 minutes after being switched off (residual capacitor charge).

7 Safety notes for electrical drives and controllers Page Protection against electrical shock by means of protective extra-low voltage (PELV) All connections and terminals with voltages between 5 and 50 Volts at the servo drive controller are protective extra-low voltage, which are designed safe from contact in correspondence with the following standards: International: IEC European countries within the EU: EN DANGER! High electrical voltages due to wrong connections! Danger to life, risk of injury due to electrical shock! Only devices and electrical components and wires with a protective extra low voltage (PELV) may be connected to connectors and terminals with voltages between 0 to 50 Volts. Only connect voltages and circuits with protection against dangerous voltages. Such protection may be achieved by means of isolation transformers, safe optocouplers or battery operation Protection against dangerous movements Dangerous movements can be caused by faulty control of connected motors, for different reasons: Improper or faulty wiring or cabling Error in handling of components Error in sensor or transducer Defective or non-emc-compliant components Error in software in superordinated control system These errors can occur directly after switching on the device or after an indeterminate time of operation. The monitors in the drive components for the most part rule out malfunctions in the connected drives. In view of personal protection, particularly the danger of personal injury and/or property damage, this may not be relied on exclusively. Until the built-in monitors come into effect, faulty drive movements must be taken into account; their magnitude depends on the type of control and on the operating state. DANGER! Dangerous movements! Danger to life, risk of injury, serious personal injuries or property damage! For the reasons mentioned above, personal protection must be ensured by means of monitoring or superordinated measures on the device. These are installed in accordance with the specific data of the system and a danger and error analysis by the manufacturer. The safety regulations applying to the system are also taken into consideration. Random movements or other malfunctions may be caused by switching the safety installations off, by bypassing them or by not activating them.

8 Safety notes for electrical drives and controllers Page Protection against contact with hot parts DANGER! Housing surfaces may be hot! Risk of injury! Risk of burning! Do not touch housing surfaces in the vicinity of heat sources! Danger of burning! Before accessing devices let them cool down for 10 minutes after switching them off. Touching hot parts of the equipment such as the housing, which contain heat sinks and resistors, may cause burns! Protection during handling and assembly Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries. DANGER! Risk of injury due to improper handling! Personal injury due to pinching, shearing, cutting, crushing! The following general safety notes apply: Comply with the general setup and safety regulations on handling and assembly. Use suitable assembly and transportation devices. Prevent incarcerations and contusions by means of suitable protective measures. Use suitable tools only. If specified, use special tools. Use lifting devices and tools appropriately. If necessary, use suitable protective equipment (e.g. goggles, protective footwear, protective gloves). Do not stand underneath hanging loads. Remove leaking liquids on the floor immediately to prevent slipping.

9 Technical data Page 9 3 Technical data Range DIS-2 310/2 FB Ambient conditions and qualification: Admissible temperature ranges Storage temperature: -25 C to +70 C Housing temperature: 0 C to +80 C Temperature switch-off at approx. 85 C Ambient temperature at nominal power: 0 C to +30 C With power derating respectively output current derating of 3% / K from 30 C Admissible installation height Humidity Protection class Up to 1000 m above a.m.s.l., 1000 to 4000 m above a.m.s.l. with power derating Relative humidity up to 90%, no bedewing IP54, dependent on mounting IP67 may be achieved Pollution degree 1 CE conformity: Low-voltage directive EMC regulation Interference emission Interference immunity EN EN (only with external line filter END-230-4; ) Category C2 Category C3 Dimensions and weight: Dimensions: H*W*D Weight 56*80*112 mm (without mounting plate and mating plugs) approx. 550 g Performance data power supply [X1]: Input supply voltage 230 V eff ± 10%, approx. 2 A Single phase supply voltage 24 V logic supply 24 V DC [± 20%] / 0,20 A 1) internal protected with poly-switch, triggered at approx. 1 A 1) plus supply current of the optional holding brake and driven I/Os of approx. 0,7 A Brake Chopper External brake resistor Value / continuous / pulse power Brake Chopper is integrated; U Chop 380 V Screwed on mounting plate (Type: PLR of Metallux; ) 100 Ω / 30 W / 600 W

10 Technical data Page 10 Motor connection specifications [X6]: Specifications for operation with 230 V eff / T Housing = 80 C Output nominal power Output nominal current Max. output current for 1 s PWM frequency 300 W 2 A eff 6 A eff 10 khz Motor temperature monitoring [X2]: Digital Sensor Normally closed contact: R cold < 500 Ω R hot > 100 kω Analogue Sensor Silicon temperature sensors KTY series KTY81-2x0; KTY82-2x0 KTY81-1x0; KTY81-2x0 KTY83-1xx KTY84-1xx R Ω R Ω R Ω R Ω Resolver evaluation [X2]: Suitable resolver Industry standard, single speed Transformation ratio 0.5 Carrier frequency Resolution 10 khz > 12 Bit ( typ. 15 Bit) Delay time signal detection < 200 µs Speed resolution ca. 4 min -1 Absolute accuracy of angle detection < 10 Max. rotational speed min -1 Evaluation of analogue Hall sensor signals [X2]: Suitable Hall sensors Resolution HAL400 (Micronas), SS495A (Honeywell) and others Output type: differential analogue output, V CM = 2.0 V V Signal amplitude: max. 4,8 V ss differential 1) > 12 Bit ( typ. 15 Bit) Delay time signal detection < 200 µs Speed resolution ca. 10 min -1 Absolute accuracy of angle detection < 30 Max. rotational speed min -1 1) Other Signal levels on request as custom specific version, please contact your local supplier.

11 Technical data Page 11 Evaluation of Hiperface Encoders [X2]: Suitable Encoder Resolution Stegmann Hiperface SCS / SCM60 ; SRS / SRM50 ; SKS36 other types please contact supplier Up to 16 Bit ( depends on number of increments) Delay time signal detection < 200 µs Speed resolution ca. 4 min -1 Absolute accuracy of angle detection < 5 Max. rotational speed min -1, min -1 with lines / turn at 1024 Evaluation of Six-Step-Sensors (Hall) and block commutation mode [X2]: Suitable Six-Step-Sensors Resolution HALL-Sensors with +5 V supply; 120 phase shift between phases; open collector or push-pull output; i out > 5 ma; 6 steps per electric turn Delay time signal detection < 200 µs Speed resolution Max. rotational speed Depends on number of poles of the motor min -1 with a 4 pole motor Evaluation of Incremental encoder [X2]: Suitable encoder pulse counts Programmable 32 to 1024 periods per turn, is equivalent to 128 to 4096 lines/turn Input signal level Power supply for encoder Input impedance Max. input frequency 5 V differential inputs / RS422-standard +5 V / 100 ma max. R i 1600 Ω f max > 100 khz (pulses/s) Digital inputs and outputs [X1]: Logic inputs general 24V (8V...30V) active high, conforming with EN DIN0 DIN1 DIN2 DIN3 DIN4 (usable as encoder input A- signal) DIN5 (usable as encoder input B- signal) DIN6 (usable as encoder input N- signal) Bit 0 \ Bit 1 \ Target selection for positioning Bit 2 / 16 targets selectable from target table Bit 3 / Bit 4 \ Target Group selection \ Target selection for positioning / 4 target groups with separate positioning parameters Bit 5 / (speed, acceleration, positioning mode e.g.) selectable Control signal Start positioning DIN7 End switch input 0

12 Technical data Page 12 Digital inputs and outputs [X1]: DIN8 End switch input 1 DIN9 Logic outputs general Controller enable at High, clear error high-low transition at Low 24V (8V...30V) active high, short circuit rated to GND DOUT0 Operational state / Ready 24 V, max. 20 ma DOUT1 DOUT2 Freely configurable, usable as Encoder output A-Signal Freely configurable, usable as Encoder output B-Signal 24 V, max. 20 ma 24 V, max. 20 ma DOUT3 (on X3) Holding brake 24 V, max. 700 ma Incremental encoder output [X1] (DOUT1, DOUT2): Number of lines Connection level Output impedance Limit frequency Programmable 32 / 64 / 128 / 256 / 512 / 1024 lines / turn 24 V single ended / maximum 20 ma output current R a 300 Ω f Limit > 100 khz (lines/s); f limit depends on line length, data measured with R Load = 1 kω and C Load = 1 nf, which equals 5 m cable length Incremental encoder input [X1] (DIN4, DIN5, DIN6): Number of lines Connection level Max. input frequency Programmable 32 / 64 / 128 / 256 / 512 / 1024 lines / turn 24 V single ended / 24V (8V...30V) active high, conforming with EN f Limit = 50 khz (lines/s); f limit depends on input filter, data measured with R Input = 13,3 kω and C Input = 470 pf Analogue inputs and outputs [X1]: Analogue Inputs general AIN0 / #AIN0 AIN1 / #AIN1 Analogue monitor output: ±10V input range, 12 Bit resolution, differential input stage < 250µs delay time, Input protection up to 30 V Analogue input, used as an input for the current or speed setpoint; Pins shared with DIN0 and DIN1 Analogue input, used as an input for the current or speed setpoint; Pins shared with DIN2 and DIN4 0 V...10 V output range, 8 bit resolution, f Limit 1kHz AMON0

13 Mechanical installation Page 13 4 Mechanical installation 4.1 Important notes The DIS-2 310/2 FB was originally designed for direct mounting on one side of the motor. Optimum cooling will be achieved, if the DIS-2 310/2 FB is mounted vertical, this means that connector X1 is directed to the floor or to the sky. Maximum allowable housing temperature of the DIS-2 310/2 FB is 80 C to achieve the specified lifetime of the electronic! The connection cable to X1 should be fixed (to some machine parts e.g.) close to the DIS-2 310/2 FB to achieve the maximum reliability of the wiring. Installation spaces: Keep a minimum distance of 100 mm to other components / motors each above and underneath the device to ensure sufficient venting. 4.2 Position and alignment of the connectors The DIS-2 310/2 FB contains the following connectors: Figure 1: DIS-2 view into the housing location of the connectors Connectors on the main board: X1: The only IO connector led to the outside. It includes digital and analogue inputs and outputs, as well as the power supply and some debug signals. X2: Is used to connect the angle encoders. It is a multifunction interface which support the following angle sensors: resolver (industry standard - 10kHz exciting frequency, transfer ration 1 : 0,5) analogue hall sensors (SIN- and COS signals) Stegmann HIPERFACE

14 Mechanical installation Page 14 Incremental encoders (with differential signals, programmable from 32 to 1024 periods / turn, which is equivalent to 128 to 4096 lines/turn) Digital Hall sensors (six-step-encoder) X3: Connector for the holding brake at the motor (24 V, max. 500 ma) X300: Connector for the brake resistor which has to be screwed on the mounting plate X6: Connector for the three motor phases U, V,W and PE X8: Is an expansion interface for the fieldbus-modules Connectors on the fieldbus-modules (CANopen, PROFIBUS, EtherCAT): X5: Connector for the RS232 communication to parameterise or control the DIS-2 310/2 FB X401: Fieldbus connector which can be used for bus IN or bus OUT X402: Second fieldbus connector for bus IN or bus OUT

15 Mechanical installation Page Dimensions of the housing Figure 2: DIS-2 dimensions of housing

16 Mechanical installation Page Mounting The electronic will be mounted directly to the motor using a seal. The mounting flange at the motor should have smooth surface with a circular slot to achieve the highest protection against water. With a good construction the protective class of IP67 will be achieved.it is recommended that the brake resistor is screwed on the mounting plate. Figure 3: DIS-2 310/2 FB mounting example synchronous servo motor, mounting plate with brake resistor and servo positioning controller DIS-2 310/2 FB

17 Mechanical installation Page 17 Figure 4: Example of a mounting plate for a motor from supplier DRIVETEC

18 Electrical installation Page 18 5 Electrical installation 5.1 Pin configuration main board DIS-2 310/2 FB Pin configuration Power supply and I/O [X1] Connector type at DIS-2 310/2 FB: Counter Plug: Phoenix PLUSCON VARIOCON Phoenix PLUSCON VARIOCON Set, with: 1x VC-TFS6 2x VC-TFS8 1x VC-TR2/3M 1x VC-MEMV-T2-Z 1x VC-EMV-KV-PG21-(11,5-15,5/13,5) Dimensions approx. L x B x H = 86 mm x 80 mm x 32 mm C B A Interface Description: Pin No. Denomination Value Specification A1 DOUT0 / READY 0 V / 24 V Output operational / no error A2 DIN8 0 V...24 V Input limit switch 1 (locks n < 0) A3 DIN5 0 V...24 V Input Target selection positioning group Bit 1 / Incremental encoder input B-Line A4 #AIN1 (DIN3) -10 V...10 V (0 V...24 V) Inverse setpoint input 1, differential with AIN1/ (Input Target selection positioning Bit 3) A5 DIN9 0 V...24 V Input Power stage enable A6 DIN7 0 V...24 V Input limit switch 0 (locks n > 0) A7 DIN4 0 V...24 V Input Target selection positioning group Bit 0 / Incremental encoder Input A-Line A8 AIN1 (DIN2) -10 V...10 V (0 V...24 V) Setpoint input 1, differential with #AIN1/ (Input Target selection positioning Bit 2) B1 #AIN0 (DIN1) -10 V...10 V Inverse setpoint input 0, differential with AIN0/ (Input Target selection positioning Bit 1) B2 DOUT2 0 V...24 V B3 AMON0 0 V...10 V; 2 ma Output freely programmable / Incremental encoder output B-Line Analogue monitor output 0 B4 GND 0 V Common Ground Potential for IO signals B5 AIN0 (DIN0) -10 V...10 V Setpoint input 0, differential with #AIN0 / (Input Target selection positioning Bit 0)

19 Electrical installation Page 19 Pin No. Denomination Value Specification B6 DOUT1 0 V...24 V B7 DIN6 0 V...24 V B8 +24V Logik +24 V / I Logik = 200 ma ma Output freely programmable / Incremental encoder output A-Line Input for positioning start / Incremental encoder Input N- Line 24 V power supply for internal logic and IOs, one common GND with DC bus voltage! C1 PE PE Protective earth C2 ZK V Intermediate circuit voltage plus C3 ZK- Bench mark for ZK+ Intermediate circuit voltage minus C4 PE PE Protective earth C5 N 230V AC ± 10% Input power supply N C6 L 230V AC ± 10% Input power supply L Pin configuration Encoder Interface [X2] Connector type at DIS-2 310/2 FB: Molex No Counter Plug: Molex No with up to 16 contacts Molex No X Interface Description: Pin No. Denomination Value Specification 1 st row 2 nd row Resolver Others (Resolver Version) 1 GND 0 V Reference GND for incremental encoder / analogue hall sensor / Stegmann Hiperface encoder 2 GND 0 V Reference GND for hall sensors and / or motor temperature sensor 3 +5V +5 V / 100 ma +5 V power supply for linear hall sensors or incremental encoders 4 +5V +5 V / 100 ma +5 V power supply for hall sensors for commutation

20 Electrical installation Page 20 Pin No. Denomination Value Specification 1 st row 2 nd row Resolver Others (Resolver Version) 5 COS A 1.5 V RMS,diff / R i > 10 kω 6 HALL_U 0 V / 5 V R i = 5 kω 7 #COS #A 1.5 V RMS,diff / R i > 10 kω 8 HALL_V 0 V / 5 V R i = 5 kω 9 SIN B 1.5 V RMS,diff / R i > 10 kω 10 HALL_W 0 V / 5 V R i = 5 kω 11 #SIN #B 1.5 V RMS,diff / R i > 10 kω 12 MTEMP 0 V / 3.3 V R i = 2 kω 13 REF N 3 V RMS,diff. max. 50 ma RMS Resolver: connect to resolver line S1 Others: connect to incremental line A Phase U hall sensor for commutation; input with pull-up 4,7 kω to +5 V Resolver: connect to resolver line S3 Others: connect to incremental line #A Phase V hall sensor for commutation; input with pull-up 4,7 kω to +5 V Resolver: connect to resolver line S2 Others: connect to incremental line B Phase W hall sensor for commutation; input with pull-up 4,7 kω to +5 V Resolver: connect to resolver line S4 Others: connect to incremental line #B Motor temperature sensor of type closed contact, PTC, or analogue sensor KTY82; connected to GND Resolver: connect to resolver line R1 Others: connect to incremental line N / DATA V +12 V / 100 ma +12 V power supply for Stegmann Hiperface encoder 15 #REF #N 3 V RMS,diff. max. 50 ma RMS Resolver: connect to resolver line R2 Others: connect to incremental line #N /#DATA 16 n.c Pin configuration holding brake [X3] Connector type at DIS-2 310/2 FB: Counter Plug: JST No. B02B-XASK-1 JST No. XAP-02V-1 with 2 contacts JST No. SXA-001T-P0.6 Interface Description:

21 Electrical installation Page 21 Pin No. Denomination Value Specification 1 DOUT3 0 V / 24 V max. 500 ma Output (high active) for holding brake on motor shaft 2 GND 0 V Reference potential for holding brake Pin configuration motor phases [X6] Connector type at DIS-2 310/2 FB: Counter Plug: JST No. B5P-VH-B JST No. VHR-5N with 4 contacts JST No. SVH-41T-P1.1 Interface Description: Pin No. Denomination Value Specification 1 PHASE_W 3 x 0 V V 2 PHASE_V 2 A RMS,nom 6 A RMS,max 3 PHASE_U 0 Hz Hz Connection to the 3phase synchronous motor 4 n.c Saftey clearance between PE an motor phase 5 PE Protective earth Pin configuration brake resistor [X300] Connector type at DIS-2 310/2 FB: Counter Plug: JST No. B2P-VH-B JST No. VHR-2N with 2 contacts JST No. SVH-41T-P1.1 Interface Description: Pin No. Denomination Value Specification 1 ZK+ 380 V / 4 A nom. Connection for brake resistor to intermediate voltage 2 BR-CH 0 V / 380V Connection for brake resistor to brake chopper

22 Electrical installation Page Pin configuration fieldbus-modules Pin configuration RS232 interface [X5] Connector type at DIS-2 310/2 FB: Counter Plug: M8 flush-type socket, 3-pin type M8 mating connector for free configuration, e.g. Phoenix No respectively RS232-cable: Interface Description: Pin no. Denomination Value Specification 1 RxD +/-10 V Receive line, RS232 specification 3 TxD +/-10 V Transmitting line, RS232 specification 4 GND 0 V Interface GND, Reference potential for the serial interface, internally connected with the common reference potential for the logic system Pin assignment to set up an RS232 adapter cable for connection to a PC/notebook [X5] pin assignment at DIS-2 310/2 FB 9-pole D-SUB connector for connection by PC Specification Pin no. Denomination Pin no. Denomination Specification 1 RxD 3 TxD_PC Receive line, RS232 specification 3 TxD 2 RxD_PC Transmitting line, RS232 specification 4 GND 5 GND - Shield - Shield Interface GND, Reference potential for the serial interface, galvanically connected with the common reference potential for the intermediate circuit and the logic system Connect the cable shield on both sides of the connector housing

23 Electrical installation Page Pin configuration CANopen [X401, X402] Connector type at DIS-2 310/2 FB: [X401] M12 flush-type plug, 5-pin type, A-coded [X402] M12 flush-type socket, 5-pin type, A-coded Counter Plug: Assembled M12 bus cable, e.g. made by Phoenix, one end socket straight, shielded M12-A-coded, 5-pole, other end pin straight, shielded M12-A-coded, 5-pole, prefabricated lengths, order name: SAC-5P-MS/xxx-920/FS SCO, xxx defines the length in [m]. The following lengths are available: xxx = 0.3 / 0.5 / 1.0 / 2.0 / 5.0 / 10.0 / 15.0 Terminating resistor CANopen M12: Order number: length in meter order number 0, , , , length in meter order number Interface Description: Pin no. Denomination Value Specification 1 Shield PE Not used Contact for cable shield, in the DIS-2 connected with the housing 3 CAN_GND 0 V Reference potential for the CAN bus, internally connected to the common reference potential of the logic system 4 CAN_HI 0 V 5 V Signal CAN_HI according to CAN bus specification 5 CAN_LO 0 V 5 V Signal CAN_LO according to CAN bus specification

24 Electrical installation Page Pin configuration PROFIBUS [X401, X402] The PROFIBUS interface at the servo positioning controller DIS-2 310/2 FB is in accordance with EN as 5-pin M12 plug (B-coded, at the technology plug-in module, as socket and as plug) Connector type at DIS-2 310/2 FB: Counter Plug: [X401] M12 flush-type plug, 5-pin type, B-coded [X402] M12 flush-type socket, 5-pin type, B-coded Assembled M12 bus cable, e.g. made by Phoenix Contact, one end socket straight, shielded M12-B-coded, 2-pole, other end pin straight, shielded M12-B-coded, 2-pole, prefabricated lengths, order name: SAC-2P-MSB/xxx-910/FSB SCO, xxx defines the length in [m]. The following lengths are available: xxx = 0.3 / 0.5 / 1.0 / 2.0 / 5.0 / 10.0 / 15.0 Terminating resistor PROFIBUS M12: length in meter order number 0, , , , length in meter order number Interface Description: Pin no. Denomination Value / color Specification 1 +5V +5V 2 A-line green Signal A according to PROFIBUS specification 3 0V 0 V Internally connected with the common reference potential the logic system 4 B-line red Signal B according to PROFIBUS specification 5 Shield PE Contact for cable shield, in the DIS-2 310/2 FB connected with the housing

25 Electrical installation Page Pin configuration EtherCAT [X401, X402] The EtherCAT-Interface at the servo positioning controller DIS-2 310/2 FB is in accordance with IEC as 4-pole M12 socket (shielded und D-coded) Connector type at DIS-2 310/2 FB: [X401] M12 flush-type socket, 4-pin type, D-coded [X402] M12 flush-type socket, 4-pin type, D-coded Counter Plug: Assembled M12 bus cable, e.g. made by Phoenix Contact, shielded M12-D-coded, 4-pole, prefabricated lengths and part numbers: length in meter order number 0, , , , length in meter order number Interface Description: Pin no. Denomination Value Specification 1 TX ,5 VDC Transmission Data + 2 RX ,5 VDC Receive Data + 3 TX ,5 VDC Transmission Data - 4 RX ,5 VDC Receive Data -

26 Electrical installation Page Wiring Example Figure 5: Connection to power supply, PLC and motor Figure 5 shows a typical application with one or more DIS-2 310/2 FB connected to the 230 VAC power supply, to the 24V logic supply (1 A per device is used) to the holding brake and to the controller or a PLC. An emergency stop circuit is not shown, but will be necessary in practice!

27 Electrical installation Page 27 A slow-blow two-pole automatic circuit breaker of 10 A (B10) is recommended and has to be installed in the mains supply line. The motor is connected to terminals U, V, W, PE at [X6]. The motor temperature switch (PTC or normally closed contact or analog temperature sensor e.g. KTY82) is connected to terminals M_temp and DGND at [X2] Make sure that the temperature sensor signals and the encoder signals are suitable for the use in PELV (protective extra-low voltage) applications, because inside the DIS-2 310/2 FB they are connected to digital ground, which is a PELV. To control the DIS-2 310/2 FB via analogue input, it is strongly recommended to use a shielded and twisted pair for AINx / #AINx. Even if the PLC provides a single ended analogue output only, this technique should be used. By connecting #AINx to the reference 0V at the PLC, common mode voltages between the PLC and the DIS-2 310/2 FB due to the high currents flowing through the power stage and the external wiring will be eliminated. The shield of the cable will protect the analogue input from noise. The shield should be connected on both sides - to the housing of the DIS-2 310/2 FB and to the PLC housing. To control the DIS-2 310/2 FB via CAN bus it recommended to use the cables that are named in Pin configuration CANopen [X401, X402]. Because the CAN bus requires a in-line topology of all nodes, [X401] respectively [X402] can be used as input or output. At both ends of the CAN bus network a termination resistor of 120 Ω / 1% is needed. To control the DIS-2 310/2 FB via PROFIBUS it recommended to use the cables that are named in Pin configuration PROFIBUS [X401, X402]. Because the PROFIBUS requires a in-line topology of all nodes, [X401] respectively [X402] can be used as input or output. At both ends of the PROFIBUS network a termination resistor is needed. The digital IO signals DINx and DOUTx do not need a shield to protect them from incoming noise, but a shielded cable between DIS-2 310/2 FB and PLC will improve the EMC emmission of the whole system. For synchronisation mode use the DIN4, 5, 6 as incremental encoder input signals and DOUT1, 2 as incremental encoder output signals.

28 EMC-compliant wiring Page 28 6 EMC-compliant wiring The following must be considered for an EMC-compliant setup of the drive system: 6.1 Connection between DIS-2 310/2 FB and motor The motor is connected to [X6]. The motor temperature switch (normally closed contact, PTC or KTY82) is connected to terminals MTEMP and GND at [X2]. The Resolver or Encoder is connected to the appropriate pins of [X2]. The holding brake is connected to [X3], take care of the right polarity, when connecting! If the DIS-2 310/2 FB is mounted directly to the motor, the cables are only some cm long and covered by the electronic housing, so the cables don t need to be shielded. 6.2 Connection between DIS-2 310/2 FB and power supply Connection to the 24 VDC power supply: Use cables with sufficient cross section to reduce ground bouncing on the 24 VDC power supply: 0.75 mm² cables should be sufficient for line length up to 5 m between 24 VDC power supply and DIS-2 310/2 FB To connect multiple DIS-2 310/2 FB to one 24 VDC power supply use a star wiring technique as shown in Figure 5. The star point of the reference GND potential should be located as close to the power supply as possible. The 24 VDC power supply should contain a Y-capacitor of at least 100 nf between DGND and PE.

29 EMC-compliant wiring Page 29 Connection to the 230 VAC mains supply: Take care of a good PE connection between DIS-2 310/2 FB and 230 VAC mains supply. It is necessary to have a good return path for the high frequency leakage currents produced from the switched power stage inside the DIS-2 310/2 FB in combination with the winding capacity between phase and PE inside the motor. Installation note: The frame has a PE sheet with a PE connection. Strip the PE conductor by 20 mm and cut the insulation at 50 mm. Push the cut insulation forward by 15 mm. Connect the PE contact of the module and clamp the PE sheet under the PE screw. A good PE connection is a low impedance connection even at high noise frequency. Mounting the DIS-2 310/2 FB and the power supply directly to the same metal machine parts should be sufficient in most cases. If not, use a flexible approx. 10 mm wide Copper strap to connect the different devices. To comply with the limit values for the interference emission it is recommended to use a shielded 230 VAC supply cable between input line filter and DIS-2 310/2 FB. The max. length is 10 m. DANGER! For safety reasons, all PE ground conductors must be connected prior to initial operation. The EN regulations for protective earthing must be complied with during installation, especially for the installation of the power supply!